///The main function: Ticking.
///Whether this runs before or after the car's ticking shouldn't matter.
void AControlActor::RaceTick(float DeltaTime) {
if (raceActive || logAIsensors) {
timeElapsed += DeltaTime;
/// ============ Set Variables such as speed, currCurvature, etc. ===========
currTrackPos = GetTrackPos(car->GetActorLocation());
velocity = ReadVelocity();
edgeDist = GetEdgeDist();
currSection = GetSection(0);
nextSection = GetSection(1);
distToCurrSectionEnd = currSection.length - currTrackPos.distThrough;
float r = distToCurrSectionEnd / currSection.length;
currCurvature = r*currSection.initCurvature + (1 - r)*currSection.finalCurvature;
// currSteeringAngle set each time the user sets it
}
if (logAIsensors) {
/// =============== [Debug] Log all the things ============
UE_LOG(ControlActor, Log, TEXT(""));
UE_LOG(ControlActor, Log, TEXT("============================================="));
UE_LOG(ControlActor, Log, TEXT("Time elapsed: %f"), timeElapsed);
UE_LOG(ControlActor, Log, TEXT("Current section: %d"), currTrackPos.currSectionI);
UE_LOG(ControlActor, Log, TEXT("Distance through section: %f"), currTrackPos.distThrough);
UE_LOG(ControlActor, Log, TEXT("Total distancce: %f"), trackSplineDist);
UE_LOG(ControlActor, Log, TEXT(""));
UE_LOG(ControlActor, Log, TEXT("Velocity forward: %f"), velocity.ahead);
UE_LOG(ControlActor, Log, TEXT("Velocity right: %f"), velocity.right);
UE_LOG(ControlActor, Log, TEXT("Speed: %f"), velocity.speed);
UE_LOG(ControlActor, Log, TEXT("Angle to ahead: %f"), velocity.angleToAhead);
UE_LOG(ControlActor, Log, TEXT(""));
UE_LOG(ControlActor, Log, TEXT("Left edge dist: %f"), edgeDist.left);
UE_LOG(ControlActor, Log, TEXT("Right edge dist: %f"), edgeDist.right);
}
/// ============ Run the AI! ==========
if (raceActive) {
ExecuteAIscript();
}
else {
if (!car->userInControl) {
Accelerate(0);
SetSteeringAngle(0);
}
}
}
// Sloppy psuedo code
// Make cart parallel to left wall
// Assuming it's far enough from the wall
// that the front bumper won't bump into the wall
int main (void) {
//if side sensors aren't too close to wall
//nose near wall = 90 - degree
//back near wall = 90 + degree
SideAngleToWall = angle
SetSteeringAngle(SideAngleToWall)
}
